| 基于改进的人工势场法的机器人避障控制及其MATLAB实现 |
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| 引用本文： | 杨一波,王朝立.基于改进的人工势场法的机器人避障控制及其MATLAB实现[J].上海理工大学学报,2013,35(5):496-500. |
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| 作者姓名： | 杨一波 王朝立 |
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| 作者单位： | 上海理工大学 光电信息与计算机工程学院, 上海200093;上海理工大学 光电信息与计算机工程学院, 上海200093 |
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| 基金项目： | 国家自然科学基金资助项目(60874002) |
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| 摘 要： | 针对传统人工势场法存在局部极小点,而且容易导致路径规划失效的问题,通过改进的人工势场法,可以解决局部极小问题,使机器人尽快跳出局部极小点.从而有效地克服了机器人在障碍物附近出现的反复震荡或停止不前等问题,使机器人运动轨迹更平滑,从而更接近最优路径.仿真实验结果说明此方法有效.
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| 关 键 词： | 人工势场 路径规划 局部极小点 机器人避障 |
Obstacle Avoidance Method for Mobile Robots Based on Improved Artificial Potential Field Method and Its Implementation on MATLAB |
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| YANG Yi bo and WANG Chao li.Obstacle Avoidance Method for Mobile Robots Based on Improved Artificial Potential Field Method and Its Implementation on MATLAB[J].Journal of University of Shanghai For Science and Technology,2013,35(5):496-500. |
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| Authors: | YANG Yi bo and WANG Chao li |
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| Institution: | YANG Yi-bo;WANG Chao-li;School of Optical-Electrical and Computer Engineering,University of Shanghai for Science and Technology; |
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| Abstract: | The traditional artificial potential field method has the shortcoming of local minimum problem.By introducing an improved method,the problem of local minimum was solved much better and the problem of keeping on round trip or stopping moving was also resolved,makeing the path of mobile robots smoother and much nearer to the optimal path.The simulation results show the effectiveness of the method. |
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| Keywords: | artificial potential field path planning local minimum obstacle avoidance |
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